Comments (3)
artivis
commented on May 23, 2024
Hi @mnissov,
This demo (and likely all the other) is not displaying the actual state but the state log. Remove the .log() in the prints to see the full states printed out. Mind that in that case they are [x, y, real, imag].
X initial : [0. 0. 0.]
-------------------------------------------------------
X simulated : [0.1 0.002 0.999 0.05 ]
X estimated : [ 0.098 -0.004 0.999 0.05 ]
X unfilterd : [0.189 0.051 0.994 0.112]
-------------------------------------------------------
X simulated : [0.2 0.01 0.995 0.1 ]
X estimated : [0.196 0.007 0.995 0.098]
X unfilterd : [0.381 0.083 0.985 0.173]
-------------------------------------------------------
X simulated : [0.299 0.022 0.989 0.149]
X estimated : [0.299 0.014 0.989 0.15 ]
X unfilterd : [0.487 0.162 0.952 0.308]
-------------------------------------------------------
X simulated : [0.397 0.04 0.98 0.199]
X estimated : [0.395 0.031 0.98 0.2 ]
X unfilterd : [0.591 0.21 0.929 0.369]
-------------------------------------------------------
X simulated : [0.495 0.062 0.969 0.247]
X estimated : [0.491 0.053 0.968 0.25 ]
X unfilterd : [0.655 0.327 0.905 0.426]
-------------------------------------------------------
X simulated : [0.591 0.089 0.955 0.296]
X estimated : [0.589 0.082 0.955 0.296]
X unfilterd : [0.771 0.415 0.85 0.526]
-------------------------------------------------------
X simulated : [0.686 0.121 0.939 0.343]
X estimated : [0.683 0.114 0.939 0.343]
X unfilterd : [0.87 0.516 0.786 0.619]
-------------------------------------------------------
X simulated : [0.779 0.158 0.921 0.389]
X estimated : [0.775 0.15 0.921 0.389]
X unfilterd : [0.983 0.665 0.715 0.699]
-------------------------------------------------------
X simulated : [0.87 0.199 0.9 0.435]
X estimated : [0.869 0.19 0.9 0.435]
X unfilterd : [1.033 0.755 0.646 0.763]
-------------------------------------------------------
X simulated : [0.959 0.245 0.878 0.479]
X estimated : [0.959 0.237 0.877 0.48 ]
X unfilterd : [1.117 0.938 0.544 0.839]
-------------------------------------------------------
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mnissov
commented on May 23, 2024
Maybe it's just a misunderstanding from my side then, I figured applying the Log map would retract what is essentially just a vector of [x, y, theta]. The R^3 components one applies the generators on to form the component in the algebra.
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joansola
commented on May 23, 2024
The Log_SE3 is not the same as the Log_SO3 and Log_R3. This is explained in
Example 7 in the paper.
The log_SE3 is such that is the inverse of exp_SE3. And exp_SE3 takes a
point in the Lie algebra, say (dx,dy,dz, droll,dpitch,dyaw)=(1,0,0, 0,0,1),
with displacement on the X-axis, and "rolls it over" the manifold. In my
example, this is a curve of length 1 and arc PI, and so you end up at
(x,y,x,roll,pitch,yaw) = (sqrt3/2, 1/2, 0, 0,0,PI), that is, out of the
X-axis. Remember that the Lie vector is only tangent to the group at one
point. After that point, it departs from the Lie algebra. So the trajectory
departs from the X/axis. But if you take the Log_SE3 then, you return to
the X axis!
Maybe you want to display SE3 elements in vector form with M=(T,R) --> (T,
Log_SO3(R)) instead of Log_SE3(M)
The results in the example log are of the same type.
The
Missatge de Morten ***@***.***> del dia dj., 26 de gen. 2023
a les 9:21:
… Maybe it's just a misunderstanding from my side then, I figured applying
the Log map would retract what is essentially just a vector of [x, y,
theta]. The R^3 components one applies the generators on to form the
component in the algebra.
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Related Issues (20)
- the lack of libproject
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